CN210000314U - AGV anticollision obstacle-avoiding protection device - Google Patents

AGV anticollision obstacle-avoiding protection device Download PDF

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CN210000314U
CN210000314U CN201920797602.2U CN201920797602U CN210000314U CN 210000314 U CN210000314 U CN 210000314U CN 201920797602 U CN201920797602 U CN 201920797602U CN 210000314 U CN210000314 U CN 210000314U
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self
agv
contact
protection device
locking mechanism
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乔健
王好男
杨景卫
卢清华
刘哲
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Foshan University
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Foshan University
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Abstract

The utility model provides an AGV anticollision keeps away barrier protection device, keep away barrier subassembly and self-adaptation adjustment subassembly including the anticollision that is used for detecting the barrier, self-adaptation adjustment subassembly is including the drive unit that has self-locking function, detecting element and regulating element, the anticollision is kept away the barrier subassembly and is included non-contact and keeps away barrier sensor and contact and keep away the barrier sensor, non-contact keeps away the barrier sensor and sets up on detecting element, the contact keeps away barrier sensor and regulating element articulated, drive unit installs on AGV equipment, regulating element end is connected with drive unit, end is articulated with detecting element in addition, realizes controlling drive unit drive regulating element motion, keeps away the position and the detection range of barrier sensor with the contact with the adjustment non-contact, the utility model discloses can reduce AGV equipment and operational environment relevant staff's probability of occurence of failure all around to and prolong AGV equipment's life.

Description

AGV anticollision obstacle-avoiding protection device
Technical Field
The utility model relates to a AGV anticollision and keep away barrier safety protection technical field, more specifically say, relate to kinds of AGV anticollision and keep away barrier protection device.
Background
An automatic guided robot (hereinafter referred to as an AGV) is widely applied to in the equipment manufacturing process by virtue of the characteristics of good flexibility, high automation degree, high intelligence level and the like, and the AGV is more in the fields of logistics transportation, product production lines and the like.
In order to avoid collision interference between the AGV and operators and equipment around a driving environment in the working process and additional safety accidents, collision avoidance protective devices are mounted on the AGV, and a safety protection mode combining a contact collision avoidance module and a non-contact collision avoidance sensor is adopted.
However, when the ultra-long specification goods such as aluminum profiles are transported by the AGV, the maximum size of the goods is extended out of the outside of the AGV body, so that the non-contact type anti-collision obstacle avoidance sensor is out of order, the contact type anti-collision obstacle avoidance module cannot exert due effect, and corresponding accidents are easy to occur. Therefore, it is necessary to develop a safety obstacle avoidance apparatus mounted on an AGV to achieve position adjustment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome shortcoming and not enough among the prior art, provide kinds of AGV anticollision and keep away barrier protection device, this AGV anticollision keeps away barrier protection device can not only effectively solve the anticollision and keep away the barrier problem according to material appearance automatic adjustment position, can enlarge the anticollision moreover and keep away barrier safety protection device's protective range to reduce AGV equipment and operational environment probability of relevant staff emergence accident all around, and prolong the life of AGV equipment.
In order to achieve the purpose, the utility model discloses a AGV anticollision keeps away barrier protection device, installs on AGV equipment, its characterized in that including the anticollision that is used for detecting the barrier keep away the barrier subassembly and the self-adaptation adjustment subassembly, the self-adaptation adjustment subassembly includes the transmission unit that has self-locking function, is used for detecting the detection unit of goods terminal surface and is used for adjusting the anticollision and keeping away the regulation unit of barrier subassembly position and detection range;
the AGV comprises a detection unit, a transmission unit, an adjustment unit, a transmission unit and a detection unit, wherein the non-contact obstacle avoidance sensor is arranged on the detection unit, the contact obstacle avoidance sensor is hinged with the adjustment unit, the transmission unit is arranged on the AGV equipment, the end of the adjustment unit is connected with the transmission unit, the other end is hinged with the detection unit, the transmission unit is controlled to drive the adjustment unit to move, the positions and the detection ranges of the non-contact obstacle avoidance sensor and the contact obstacle avoidance sensor are adjusted, and the detection area of the detection unit on the.
In the technical scheme, the utility model discloses a barrier protection device is kept away in AGV anticollision can survey the material appearance according to the detecting element, keep away the position and the detection range of barrier sensor with the contact with adjustment non-contact through the drive unit drive adjusting unit motion, so not only can effectively solve the anticollision and keep away the barrier problem, but also can enlarge the anticollision and keep away barrier safety protection device's protective range, thereby reduce AGV equipment and operational environment probability that relevant staff takes place the accident all around, and the life of extension AGV equipment.
The transmission unit comprises a driving motor, a self-locking mechanism worm part, a self-locking mechanism worm wheel part and a potentiometer , the driving motor is installed at the rear end of the AGV equipment, the self-locking mechanism worm part is connected with the motor and meshed with the self-locking mechanism worm wheel part, the potentiometer is connected with the self-locking mechanism worm part, and the potentiometer is mainly used for feeding back the rotating angle of the self-locking mechanism worm wheel part.
The adjusting unit comprises a rotating shaft and a steering mechanism, wherein the rotating shaft is connected with the self-locking mechanism worm wheel component and the end of the steering mechanism, so that the driving motor drives the self-locking mechanism worm component and the self-locking mechanism worm wheel component to drive the steering mechanism to swing in the vertical direction, and the positions and the detection ranges of the non-contact obstacle avoidance sensor and the contact obstacle avoidance sensor are adjusted.
The maximum swinging position of the steering mechanism is that the steering mechanism is parallel to the ground.
The detection unit comprises a fixed rotating shaft, a second potentiometer and an infrared monitor, the infrared monitor is hinged with the other end of the steering mechanism through the fixed rotating shaft and is arranged opposite to the end face of the goods, the second potentiometer is connected with the fixed rotating shaft, and the second potentiometer is mainly used for feeding back the rotating angle of the fixed rotating shaft.
The non-contact obstacle avoidance sensor is arranged on the side of the infrared monitor and is parallel to the ground.
The contact type obstacle avoidance sensor is hinged with the steering mechanism and is arranged in parallel with the ground.
The utility model discloses the principle: the non-contact obstacle avoidance sensor and the contact obstacle avoidance sensor of the anti-collision obstacle avoidance assembly are installed on the self-adaptive adjusting assembly, a detection unit used for detecting the end face of a cargo on the self-adaptive adjusting assembly can detect the end face positions of different overlong cargos along with the rotation of the adjusting unit, self-locking of the position of the self-adaptive adjusting assembly is achieved through a self-locking mechanism worm part and a self-locking mechanism worm wheel part, and double-layer protection of the AGV is achieved by means of the non-contact obstacle avoidance sensor and the contact obstacle avoidance sensor at the end part of the steering mechanism.
When the AGV equipment conveys the overlong goods, the end face position of the overlong goods is detected through the infrared monitor so as to control the driving motor to drive the steering mechanism to rotate. When the infrared monitor can not receive the reflection signal from the overlong goods, the driving motor is controlled to stop rotating, then the position adjusting link of the AGV anti-collision obstacle avoidance protecting device is finished, the steering mechanism is locked by utilizing the worm and gear self-locking principle, and the stability of the contact obstacle avoidance protecting device on the steering mechanism, the infrared monitor and the like in the working process is ensured. When transporting different size specification goods, when the goods size changes promptly, self-locking mechanism worm part and self-locking mechanism worm wheel part accessible drive motor shaft clockwise or anticlockwise rotate self-adjusting steering mechanism's direction of rotation and turned angle for the obstacle sensor is kept away in the contact and the obstacle sensor can play a role is kept away in non-contact anticollision, with the security requirement that satisfies AGV equipment transportation different size specification goods, reduce AGV equipment and operational environment relevant staff's probability of occurence of failure all around, the life of extension AGV equipment.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses a barrier protection device is kept away in AGV anticollision can be according to material appearance automatic adjustment position, not only can effectively solve the anticollision and keep away the barrier problem, can enlarge the anticollision moreover and keep away barrier safety protection device's protective range to reduce AGV equipment and operational environment probability that relevant staff takes place the accident all around, and prolong AGV equipment's life, can reach safety and efficient target when AGV transports longer size goods and overlength size goods.
Drawings
FIG. 1 is a schematic diagram of the AGV collision avoidance protection device of the present invention according to embodiment when transporting extra long/long loads;
fig. 2 is a schematic view of the transmission unit of the present invention;
the AGV comprises 1 overlong/long goods, 2 an AGV body, 3 a driving motor, 4 a self-locking mechanism worm wheel part, 5 a self-locking mechanism worm part, 6 a potentiometer , 7, a motor fixing device, 8 a steering mechanism, 9 a contact type obstacle avoidance sensor, 10 a potentiometer II, 11 an infrared monitor, 12 a non-contact type obstacle avoidance sensor.
Detailed Description
The present invention will be described in further detail at with reference to the accompanying drawings and detailed description.
Examples
The present embodiment will be described below by taking an AGV apparatus as an AGV body as an example.
As shown in fig. 1 and fig. 2, the utility model discloses the obstacle protection device is kept away in AGV anticollision is installed on AGV automobile body 2, keep away barrier subassembly and self-adaptation adjustment subassembly including the anticollision that is used for detecting the barrier, this self-adaptation adjustment subassembly is including the drive unit that has self-locking function, be used for detecting the detecting element of overlength/longer goods 1 terminal surface and be used for adjusting the anticollision and keep away the regulating element of barrier subassembly position and detection range, and wherein, the anticollision is kept away the barrier subassembly and is included non-contact and keeps away barrier sensor 10 and contact and keep away barrier sensor 8.
This non-contact keeps away barrier sensor 10 and sets up on the detecting element, the contact is kept away barrier sensor 8 and is articulated with the regulating element, and the transmission unit is installed on AGV automobile body 2, regulating element end is connected with the transmission unit, end is articulated with the detecting element in addition, realize controlling the motion of transmission unit drive regulating element, keep away the position and the detection range of barrier sensor 8 with adjustment non-contact to keep away barrier sensor 10 and contact, and adjust the detecting element and keep away the detection area of barrier sensor 8 with the control input signal as the transmission unit to overlength/longer goods 1 terminal surface.
The utility model discloses a transmission unit includes driving motor 3, self-locking mechanism worm part 5, self-locking mechanism worm wheel part 4 and potentiometer 6, and wherein, driving motor 3 passes through motor fixing device 6 to be installed in the rear end of AGV automobile body 2, and self-locking mechanism worm part 5 is connected with driving motor 3 to be connected with self-locking mechanism worm wheel part 4 meshing, and potentiometer 6 is connected with self-locking mechanism worm part 5.
The adjusting unit comprises a rotating shaft and a steering mechanism 7, the rotating shaft is connected with the self-locking mechanism worm wheel component 4 and connected with the end of the steering mechanism 7, and the driving motor 3 drives the self-locking mechanism worm component 5 and the self-locking mechanism worm wheel component 4 to drive the steering mechanism 7 to swing in the vertical direction so as to adjust the positions and the detection ranges of the non-contact obstacle avoidance sensor 10 and the contact obstacle avoidance sensor 8, wherein the maximum swing position of the steering mechanism 7 is that the maximum swing position of the steering mechanism 7 is parallel to the ground.
The detection unit comprises a fixed rotating shaft, a second potentiometer 10 and an infrared monitor 9, wherein the infrared monitor 9 is hinged with the other end of the steering mechanism 7 through the fixed rotating shaft and is arranged opposite to the end face of the overlong/long cargo 1, and the second potentiometer 10 is connected with the fixed rotating shaft.
The utility model discloses a non-contact keeps away barrier sensor 10 sets up at infrared monitor 9 lateral part to with ground parallel arrangement. The contact type obstacle avoidance sensor 8 is hinged with the steering mechanism 7 and is arranged in parallel with the ground.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims (7)

  1. The AGV collision avoidance protection device is characterized by comprising a collision avoidance assembly and a self-adaptive adjusting assembly, wherein the collision avoidance assembly is used for detecting a barrier and comprises a transmission unit with a self-locking function, a detection unit for detecting the end face of a cargo and an adjusting unit for adjusting the position and the detection range of the collision avoidance assembly;
    the AGV comprises a detection unit, a transmission unit, an adjustment unit, a transmission unit and a detection unit, wherein the non-contact obstacle avoidance sensor is arranged on the detection unit, the contact obstacle avoidance sensor is hinged with the adjustment unit, the transmission unit is arranged on the AGV equipment, the end of the adjustment unit is connected with the transmission unit, the other end is hinged with the detection unit, the transmission unit is controlled to drive the adjustment unit to move, the positions and the detection ranges of the non-contact obstacle avoidance sensor and the contact obstacle avoidance sensor are adjusted, and the detection area of the detection unit on the.
  2. 2. The AGV collision avoidance protection device of claim 1, wherein the transmission unit comprises a driving motor, a self-locking mechanism worm part, a self-locking mechanism worm wheel part and a potentiometer , the driving motor is mounted at the rear end of the AGV device, the self-locking mechanism worm part is connected with the motor and meshed with the self-locking mechanism worm wheel part, and the potentiometer is connected with the self-locking mechanism worm part.
  3. 3. The AGV collision avoidance protection device of claim 2, wherein the adjusting unit comprises a rotating shaft and a steering mechanism, wherein the rotating shaft is connected with the self-locking mechanism worm gear part and connected with the end of the steering mechanism, so that the driving motor drives the self-locking mechanism worm part and the self-locking mechanism worm gear part to drive the steering mechanism to swing in the vertical direction, and the positions and the detection ranges of the non-contact type obstacle avoidance sensor and the contact type obstacle avoidance sensor are adjusted.
  4. 4. The AGV collision avoidance protection device of claim 3, wherein: the maximum swinging position of the steering mechanism is that the steering mechanism is parallel to the ground.
  5. 5. The AGV collision avoidance protection device of claim 3, wherein the detection unit comprises a fixed rotating shaft, a second potentiometer and an infrared monitor, the infrared monitor is hinged to the other end of the steering mechanism through the fixed rotating shaft and is arranged opposite to the end face of the load, and the second potentiometer is connected with the fixed rotating shaft.
  6. 6. The AGV collision avoidance protection device of claim 4, wherein: the non-contact obstacle avoidance sensor is arranged on the side of the infrared monitor and is parallel to the ground.
  7. 7. The AGV collision avoidance protection device of claim 3, wherein: the contact type obstacle avoidance sensor is hinged with the steering mechanism and is arranged in parallel with the ground.
CN201920797602.2U 2019-05-30 2019-05-30 AGV anticollision obstacle-avoiding protection device Active CN210000314U (en)

Priority Applications (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110091869A (en) * 2019-05-30 2019-08-06 佛山科学技术学院 A kind of AGV anticollision avoidance protective device and its position can self-adapting regulation methods
CN113882308A (en) * 2021-10-21 2022-01-04 长沙中联重科环境产业有限公司 Anticollision mechanism, cover shovel device and snow sweeper

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110091869A (en) * 2019-05-30 2019-08-06 佛山科学技术学院 A kind of AGV anticollision avoidance protective device and its position can self-adapting regulation methods
CN113882308A (en) * 2021-10-21 2022-01-04 长沙中联重科环境产业有限公司 Anticollision mechanism, cover shovel device and snow sweeper
CN113882308B (en) * 2021-10-21 2023-11-07 长沙中联重科环境产业有限公司 Anti-collision mechanism, cover shovel device and snow breaker

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